Isaac Sim Version
[√] 4.5.0
4.2.0
4.1.0
4.0.0
4.5.0
2023.1.1
2023.1.0-hotfix.1
Other (please specify):
Operating System
[√] Ubuntu 22.04
Ubuntu 20.04
Windows 11
Windows 10
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Topic Description
Detailed Description
Hi, I’m a beginner with IsaacLab, and I’m still getting familiar with its overall workflow. I’m trying to add a first-person view (FPV) to my quadcopter robot, but I’m confused about how to integrate this with the simulation and training process. Specifically, I’m looking at the official quadcopter_env.py file (located at IsaacLab/source/isaaclab_tasks/isaaclab_tasks/direct/quadcopter/quadcopter_env.py). From what I can tell, this file defines the environment tasks but doesn’t seem to handle the simulation directly—training appears to be launched via train.py instead.
My goal is to add an FPV camera to the robot so that I can get a robot-centric perspective during training. However, I’m unsure how to approach this:
- How do I modify the environment or the robot to include an FPV camera, since the quadcopter_env.py file doesn’t explicitly set up simulation assets like cameras?
- Is it possible to use IsaacSim for visual editing, such as adding a camera or adjusting components (e.g., attaching a camera to the quadcopter) through a UI? If so, what’s the best way to do that?
- Could you outline the step-by-step workflow for this? For instance, should I start by editing the robot in IsaacSim, then export it back to the environment file, or is there another approach?
Any guidance on the overall process—including whether IsaacSim supports direct visualization and how to link that with the RL training—would be incredibly helpful. Thanks in advance for your support!